Harmonious Robot Navigation Strategies for Pedestrians

Shintaro Nakaoka, Ayanori Yorozu, Masaki Takahashi

研究成果: Conference contribution


Recently, the demand for service robots that move autonomously in a crowded environment, such as stations, airports, and commercial facilities has increased. Such robots are required to move to a destination without hindering the progress of the surrounding pedestrians. Previous papers proposed collision avoidance methods based on the direction and distance of the destination of the robot, and the position and velocity of pedestrians in the vicinity. However, in a crowded environment, the behavior of a robot may affect other pedestrians, or the behavior of a pedestrian facing the robot may affect other pedestrians. Moreover, considering the motion strategy used by a pedestrian in a crowded environment, the impact on other pedestrians can be reduced by the robot following the pedestrians moving in the direction in which the robot wants to move. This navigation method has not been proposed thus far. Therefore, in this paper, we propose a method that considers the impact of the robot on surrounding pedestrians and the impact of those pedestrians on other pedestrians. The robot determines the avoidance or following action based on the traveling direction of the surrounding pedestrians.

ホスト出版物のタイトルIntelligent Autonomous Systems 16 - Proceedings of the 16th International Conference IAS-16
編集者Marcelo H. Ang Jr, Hajime Asama, Wei Lin, Shaohui Foong
出版社Springer Science and Business Media Deutschland GmbH
出版ステータスPublished - 2022
イベント16th International Conference on Intelligent Autonomous Systems, IAS-16 2020 - Virtual, Online
継続期間: 2021 6月 222021 6月 25


名前Lecture Notes in Networks and Systems
412 LNNS


Conference16th International Conference on Intelligent Autonomous Systems, IAS-16 2020
CityVirtual, Online

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 信号処理
  • コンピュータ ネットワークおよび通信


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